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EP3614182B1 - Système de barrière lumineuse - Google Patents

Système de barrière lumineuse Download PDF

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Publication number
EP3614182B1
EP3614182B1 EP18190194.3A EP18190194A EP3614182B1 EP 3614182 B1 EP3614182 B1 EP 3614182B1 EP 18190194 A EP18190194 A EP 18190194A EP 3614182 B1 EP3614182 B1 EP 3614182B1
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EP
European Patent Office
Prior art keywords
light
light pulses
pulse
receiver
transmitter
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Application number
EP18190194.3A
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German (de)
English (en)
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EP3614182A1 (fr
Inventor
Johann Hörderich
Sebastian Olbrich
Thorsten Rauscher
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Leuze Electronic GmbH and Co KG
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Leuze Electronic GmbH and Co KG
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Priority to EP18190194.3A priority Critical patent/EP3614182B1/fr
Publication of EP3614182A1 publication Critical patent/EP3614182A1/fr
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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V8/00—Prospecting or detecting by optical means
    • G01V8/10—Detecting, e.g. by using light barriers
    • G01V8/12—Detecting, e.g. by using light barriers using one transmitter and one receiver
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V8/00—Prospecting or detecting by optical means
    • G01V8/10—Detecting, e.g. by using light barriers
    • G01V8/20—Detecting, e.g. by using light barriers using multiple transmitters or receivers

Definitions

  • the invention relates to a light barrier arrangement and a method for detecting objects in a monitoring area by means of a light barrier arrangement.
  • Such light barrier arrangements can, in the simplest case, be designed as light barriers, in particular one-way light barriers.
  • a light barrier has a transmitter and a receiver which are arranged on opposite edges of a monitored area.
  • the surveillance area is clear, light beams emitted by the transmitter are guided through the surveillance area to the receiver without hindrance.
  • the beam path of the light beams to the receiver is at least partially interrupted.
  • the received signals are evaluated in an evaluation unit so that it is determined whether or not there is an object intrusion in the monitoring area and a corresponding binary object detection signal is generated as an output signal.
  • the transmitter can emit defined pulse trains. If these pulse trains are recognized at the receiving end, there is a free monitoring area.
  • Light barrier arrangements in the form of light curtains are also known.
  • a light curtain is, for example, from EP 2 071 363 A2 known.
  • the light curtain described there comprises a number of transmitters that emit light beams and a receiver unit that is electrically decoupled from the transmitter unit and has a number of receivers.
  • a transmitter forms one with a receiver Beam axis, whereby the transmitters and receivers of the individual beam axes are activated cyclically one after the other to detect objects in a monitoring area.
  • An activated transmitter emits light beams in the form of pulses that form at least one pulse group, and all beam axes of the light grid are synchronized using a beam axis.
  • the pulses emitted by the transmitter of this beam axis differ from the pulses of the other beam axes with regard to at least one parameter in the form of the widths of the pulses or in the form of the pauses or distances between the pulses.
  • This light curtain is that an optical synchronization of the light curtain is possible on the basis of the transmitted light beams emitted by the transmitters of the light curtain.
  • a disadvantage of such light curtains and also light barriers is that the signal strengths of the received light pulses vary greatly for different transmitter and receiver distances. As a result of this, there are significant deteriorations in the pulse shapes of the received light pulses as a function of the distance, so that they can no longer be clearly identified, which leads to incorrect detections.
  • the EP 3 147 694 A1 relates to a method for operating a photoelectric sensor and photoelectric sensor.
  • a pulsed light beam is emitted by a transmitting unit, which is received by a receiving unit arranged at a distance from the transmitting unit and is converted into a received signal.
  • measured values of the received signal are recorded by an evaluation device.
  • the acquisition of the measured values is synchronized with the received signal by the evaluation device.
  • event points of positive and / or negative edges of pulses of the received signal are determined by an edge detector of the evaluation device.
  • a subsequent event time is determined after an event time if it occurs in a time interval around an expected, the following event time.
  • a synchronization is carried out when at least two successive event times have been determined. Measurement times for recording the measurement values are determined from the event times.
  • the EP 1 498 747 A1 relates to an optoelectronic device for detecting objects arranged on a carrier medium moving at a conveying speed, with a transmitter emitting transmitted light beams, with a receiver receiving received light beams and with an evaluation unit for generating an object detection signal as a function of the received signals of the receiver.
  • a learning process can be carried out, within which the received signals and / or a threshold value for evaluating the received signals can be set.
  • the DE 100 41 182 A1 relates to an optoelectronic device for detecting objects in a monitored area with a distance sensor having a transmitter emitting light beams and a receiver receiving light beams and with a deflection unit by means of which the transmitted light beams are guided within the monitored area.
  • the transmitter emits transmitted light beams in the form of a sequence of transmitted light pulses.
  • transmission light pulses are coupled as reference transmission light pulses into an optical fiber forming a reference object, the reference transmission light pulses guided in the optical fiber being at least partially guided as reference reception light pulses to the receiver.
  • the transit times of the reference received light pulses are determined.
  • the EP 2 492 714 A1 relates to a method for operating a safety light grid and a safety light grid.
  • the procedure includes the following Steps on: Emitting light beams from light transmitters of a first and / or second optical unit. Receiving the light beams with light receivers of the second and / or first optical unit and generating received signals, with one light transmitter each being assigned to a light receiver opposite, so that the light beams of pairs of light transmitters and light receivers formed in this way form a protective field.
  • the invention is based on the object of providing a light barrier arrangement in which reliable object detection is ensured even with varying transmitter-receiver distances.
  • the invention relates to a light barrier arrangement for detecting objects in a surveillance area, with at least one transmitter and at least one receiver at opposite edges of the surveillance area.
  • the light barrier arrangement also has an evaluation unit which is designed to generate an object detection signal as a function of the received signals from the receiver.
  • the transmitter emits light beams in the form of pulse trains with at least two light pulses separated by a pulse pause.
  • the evaluation unit is designed to recognize a pulse sequence in that the distance between the falling edges of the light pulses and / or the distance between the rising edges of the light pulses is recorded as a measure of the pulse interval between light pulses.
  • a selection of the evaluation of the distance between the falling edges of the light pulses and / or the distance between the rising edges of the light pulses is made as a function of the signal strengths of the light pulses.
  • the invention also relates to a corresponding method.
  • An essential advantage of the invention is that it ensures a reliable and safe function, in particular object detection, even with greatly varying transmitter-receiver distances.
  • the mode of operation of the light barrier arrangement is such that a free monitoring area is covered by the fact that pulse sequences of light pulses emitted by the transmitter that strike the receiver can be clearly recorded and identified. If an object encroaches on the monitored area, these pulse trains are not recognized beforehand.
  • the invention is based on the knowledge that the pulse shapes and also the pulse widths of received light pulses depend very strongly on the transmitter-receiver distance, but only the distance between the falling edges of two light pulses of a pulse train and the distance between the rising edges of two light pulses of a pulse train have an extremely low dependence on distance, so that they form reliable parameters for recognizing the pulse trains.
  • the functionality of the light barrier arrangement according to the invention is considerably expanded without any significant additional structural effort, since the light barrier arrangement can be used for a large distance range between transmitter and receiver.
  • coded information is specifically impressed on the light beams, with the aid of which mutual influences from similar light barrier arrangements or interference from external light irradiation can be avoided.
  • the distance between the falling edges of the light pulses of the pulse train and / or the distance between the rising edges of the light pulses of the pulse train is compared in each case with a desired value.
  • the evaluation of the distance between the falling edges of the light pulses and / or the distance between the rising edges of the light pulses is selected as a function of the signal strengths of the light pulses.
  • Deliver results for the operation of the pulse intervals and thus the detection of the pulse trains This can be determined, for example, in a teach-in process, so that it can then be specified in working mode by means of a distance-dependent characteristic curve or the like whether the falling or rising edges are used to identify the pulse sequences.
  • the signal strength in the light pulse is expediently determined on the basis of its pulse widths.
  • compensation means are advantageously provided for taking into account the distance between light pulses as a function of their signal strengths.
  • the compensation means can be provided, for example, in the form of distance-dependent correction tables.
  • Means for comparing the signal strengths of light pulses of a pulse sequence are advantageously provided.
  • the transmitter emits light pulses with the same signal strengths within the framework of the component tolerances, there is an error when receiving light pulses with different signal strengths, for example due to external light radiation. Such errors can be revealed by comparing the signal strengths of the received light pulses.
  • Means for displaying the signal strengths of light pulses are also advantageously provided.
  • Such a display can be used for diagnostic purposes or also as an aid to aligning the alignment of the transmitting and receiving components of the light barrier arrangement with respect to one another.
  • a control unit is provided by means of which a gain factor for amplifying the received signals of the receiver is controlled.
  • the detection sensitivity of the light barrier arrangement can thus be increased.
  • recording means are provided for recording received signals received in the receiver as digital signal sequences.
  • the evaluation of the pulse sequences contained in the received signals takes place within specified evaluation windows.
  • a tracking of the evaluation window to the pulse sequence is provided.
  • the digital signal sequences are advantageously read out via an interface and stored in a memory unit.
  • the digital signal sequences are then completely available in the memory unit and can then be evaluated in a targeted manner by means of suitable specifications in the evaluation window.
  • the light barrier arrangement is designed as a one-way light barrier with only one transmitter and only one receiver.
  • the light barrier arrangement is designed as a light curtain with several beam axes, each beam axis having a transmitter and an associated receiver, to which the light beams of this transmitter are guided when the monitoring area is free.
  • an optical synchronization of the light curtain is expediently carried out on the basis of the pulse sequence of individual beam axes.
  • Figure 1 shows a first embodiment of the light barrier arrangement 1 according to the invention in the form of a one-way light barrier.
  • the one-way light barrier has a transmitter unit integrated in a first housing 2 with a transmitter 4 emitting light beams 3 in the form of a LED on.
  • the transmitter operation is controlled by a control unit 5.
  • a receiver unit integrated in a second housing 6 with a receiver 7 in the form of a photodiode is provided.
  • the received signals of the receiver 7 are evaluated in an evaluation unit 8.
  • the transmitter unit and the receiver unit are arranged on opposite edges of a monitoring area.
  • the surveillance area is free, the light beams 3 of the transmitter 4 strike the receiver 7 unhindered.
  • the beam path of the light beams 3 is at least partially interrupted by this.
  • the received signals obtained in this way are used to generate a binary object detection signal as the output signal of the one-way light barrier.
  • the switching states of the object detection signal indicate whether an object is present in the monitoring area or not.
  • the transmitter 4 emits pulsed light beams 3 in such a way that periodically a pulse sequence of two light pulses P1 and P2 separated by a pulse pause are emitted, which are recognized by the evaluation unit 8 on the basis of the received signals of the receiver 7 when the monitoring area is free.
  • the transmitter 4 can also emit pulse trains with several light pulses P1 and P2.
  • Figure 2 shows an embodiment of the light barrier arrangement 1 according to the invention in the form of a light curtain.
  • the light curtain has a transmitter unit integrated in a housing 2 with an arrangement of transmitters 4 emitting light beams 3 in the form of light-emitting diodes which are controlled by a control unit 5.
  • a receiver unit integrated in a housing 6 is provided with an arrangement of receivers 7 in the form of photodiodes, the received signals of which are evaluated in an evaluation unit 8.
  • one sensor is arranged opposite a receiver 7 and together with it forms a beam axis of the light curtain.
  • the monitoring area is free, the light beams 3 of each transmitter 4 reach the receiver 7, its beam axis, unhindered. If there is an object in the monitored area, the light beams 3 of at least one transmitter 4 are interrupted.
  • the evaluation unit 8 generates a binary object detection signal as a function of the received signals.
  • the object detection signal assumes the switching status "free monitoring area” if none of the beam axes is interrupted. Furthermore, the object detection signal assumes the "object present" switching state when at least one beam axis is interrupted.
  • each transmitter 4 periodically emits a pulse train with two light pulses P1 and P2, which are separated by a pulse pause.
  • the light pulses P1 and P2 of a pulse train are identical for all transmitters 4 of the light curtain.
  • the pulse trains of the individual transmitters 4 differ in the pulse pause between the light pulses P1 and P2.
  • the individual beam axes can be identified by the different pulse pauses for the transmitter 4. This is used for an optical synchronization of the light curtain.
  • it is first checked whether the pulse sequence of a beam axis is received in the respective receiver 7. If this is the case, starting from this beam axis, the beam axes of the light curtain, ie transmitter 4 and receiver 7, are activated individually and cyclically one after the other.
  • FIG 3 shows an embodiment of the evaluation unit 8 of the light barrier arrangement 1 according to Figure 1 .
  • the received signal of the receiver 7 is fed to a comparator 9 as an analog signal.
  • the received signal digitized in this way is fed to the evaluation unit 8 via an interface 10, which in the present case is designed as an SPI interface 10.
  • the received signal is fed directly via a DMA (direct memory access) 11 to a memory unit 12, so that the time profile of the received signal is present there in the form of a digital signal sequence.
  • This digital signal sequence is then evaluated in a computer unit 13 of the evaluation unit 8.
  • the computer unit 13 also controls the interface 10.
  • the evaluation unit 8 for the light curtain according to Figure 2 has the same structure. In contrast to the execution according to Figure 3 the received signals of all receivers 7 are digitized there in one or more comparators.
  • the light pulses P1 and P2 have the same pulse shape, which ideally are also present on the receiving side.
  • the first light pulse P1 has a rising edge at time tsi and a falling edge at time t F1 .
  • the second light pulse P2 has a rising edge (t S2 ) and a falling edge (t F2 ).
  • the pulse sequence is recognized in that the distance between the falling edges of the light pulses P1 and P2, ie the time difference t F2 -t F1, is determined.
  • the distance between the rising edges, ie the time difference t S2 -t S1, is determined.
  • the invention is based on the knowledge that these parameters have little or no distance dependency, so that even for a large range of different distances between the transmitter and receiver unit, the aforementioned parameters form reliable parameters by means of which the pulse train can be clearly identified.
  • the distance between the rising or falling edges of the light pulses P1 and P2 is preferably recognized by a comparison with a setpoint value stored in the evaluation unit 8.
  • the signal strengths, i.e. H. the levels of the received signals for the light pulses P1 and P2 have a strong dependence on the distance between the transmitter and receiver unit of the light barrier arrangement 1.
  • the widths thereof ie the time differences t F1 -t S1 and t F2 -t S2, are determined as a measure of the signal strengths of the light pulses P1 and P2.
  • a decision can be made in the evaluation unit 8 as to whether the distances between the falling edges (t F2 -t F1 ) and / or the distances between the rising edges (t S2 -t S1 ) are used to identify the pulse trains.
  • any slight distance dependency of the distances between the falling edges (t F2 - t F1 ) or the distances between the rising edges (t S2 - t S1 ) can be compensated.
  • the determined pulse widths can be used to determine whether the signal strengths of the received light pulses P1 and P2 are very different. If this is the case, an error message can be generated.
  • means for displaying the signal strengths of the light pulses P1 and P2 can be provided, in particular for an alignment aid or for diagnosis purposes.
  • a control unit is provided by means of which a gain factor for amplifying the received signals of the receiver 7 is controlled.
  • This regulation takes place as a function of the determined signal strengths.
  • the evaluation of the time course of the received signals takes place within an evaluation window A which is adapted to the pulse sequence emitted by the transmitter 4.
  • the adjustment can also take place continuously in order to compensate for any drift effects.
  • Figure 5a shows the case of interference-free reception of the light pulses P1 and P2.
  • the light pulses P1 and P2 are recognized in the evaluation unit 8 and a free monitoring area is thus registered.
  • an interference pulse S is received in addition to the light pulses P1 and P2.
  • the interference pulse S lies outside the evaluation window A and the light pulses P1 and P2 are correctly recognized in accordance with a free monitoring area.
  • the interference pulse S is masked out, and therewith a detection and, optionally, a suppression of extraneous light radiation.
  • an interference pulse S is superimposed on the first light pulse P1 and P2.
  • the pulse sequence with the light pulses P1 and P2 can still be correctly recognized despite the presence of interference pulse S. It is also possible, with additional evaluation of the pulse widths P1 and P2, to recognize the extraneous light irradiation.
  • Figure 5d shows a situation in which a first interference pulse S 'is superimposed by the light pulse P2.
  • a first interference pulse S ' is superimposed by the light pulse P2.
  • the pulse sequence of the light pulses P1 and P2 can no longer be correctly recorded, so that a warning signal is generated.

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  • Physics & Mathematics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • General Physics & Mathematics (AREA)
  • Geophysics (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
  • Geophysics And Detection Of Objects (AREA)

Claims (14)

  1. Système de barrière lumineuse (1) pour la détection d'objets dans une zone de surveillance, comprenant au moins un émetteur (4) et au moins un récepteur (7) sur des bords opposés de la zone de surveillance, les rayons lumineux (3) émis par l'émetteur (4) étant guidés vers le récepteur (7) lorsque la zone de surveillance est libre, et avec une unité d'évaluation (8) qui est conçue pour générer un signal de détection d'objet en fonction des signaux reçus du récepteur (7), l'émetteur (4) émettant des faisceaux lumineux (3) sous la forme de séquences d'impulsions avec au moins deux impulsions lumineuses (P1, P2) séparées par une pause d'impulsion, et l'unité d'évaluation étant conçue pour détecter une séquence d'impulsions en ce que la distance entre les fronts descendants des impulsions lumineuses (P1, P2) et/ou la distance entre les fronts montants des impulsions lumineuses (P1, P2) est détectée comme mesure de l'intervalle entre les impulsions lumineuses (P1, P2), caractérisé en ce qu'une sélection de l'évaluation de l'intervalle entre les fronts descendants des impulsions lumineuses (P1, P2) et/ou de l'intervalle entre les fronts montants des impulsions lumineuses (P1, P2) a lieu en fonction des intensités de signal des impulsions lumineuses (P1, P2).
  2. Système de barrière lumineuse (1) selon la revendication 1, caractérisé en ce que l'écart entre les fronts descendants des impulsions lumineuses (P1, P2) du train d'impulsions et/ou l'écart entre les fronts montants des impulsions lumineuses (P1, P2) du train d'impulsions est comparé à une valeur de consigne dans chaque cas.
  3. Système de barrière lumineuse (1) selon l'une des revendications 1 ou 2, caractérisé en ce que l'intensité du signal d'une impulsion lumineuse (P1, P2) est déterminée sur la base de ses largeurs d'impulsion.
  4. Système de barrière lumineuse (1) selon l'une des revendications 1 à 3, caractérisé en ce que des moyens de compensation sont prévus pour prendre en compte la distance des impulsions lumineuses (P1, P2) en fonction de leurs intensités de signal.
  5. Système de barrière lumineuse (1) selon l'une des revendications 1 à 4, caractérisé en ce que des moyens sont prévus pour comparer les intensités de signal des impulsions lumineuses (P1, P2) d'un train d'impulsions.
  6. Système de barrière lumineuse (1) selon l'une des revendications 1 à 5, caractérisé en ce que des moyens sont prévus pour afficher les intensités de signal des impulsions lumineuses (P1, P2).
  7. Système de barrière lumineuse (1) selon l'une des revendications 1 à 6, caractérisé en ce qu'il est prévu une unité de commande au moyen de laquelle est commandé un facteur de gain pour l'amplification des signaux reçus du récepteur (7).
  8. Système de barrière lumineuse (1) selon l'une des revendications 1 à 7, caractérisé en ce que des moyens d'enregistrement sont prévus pour enregistrer les signaux reçus dans le récepteur (7) sous forme de séquences de signaux numériques, et en ce que l'évaluation des séquences d'impulsions contenues dans les signaux reçus a lieu dans des fenêtres d'évaluation prédéterminées.
  9. Système de barrière lumineuse (1) selon la revendication 8, caractérisé en ce qu'un suivi de la fenêtre d'évaluation par rapport à la séquence d'impulsions est prévu.
  10. Système de barrière lumineuse (1) selon l'une des revendications 8 ou 9, caractérisé en ce que les séquences de signaux numériques sont lues par une interface (10) et stockées dans une unité de mémoire (12).
  11. Système de barrière lumineuse (1) selon l'une des revendications 1 à 10, caractérisé en ce que des moyens de détection de la lumière parasite sont prévus.
  12. Système de barrière lumineuse (1) selon l'une des revendications 1 à 11, caractérisé en ce qu'il est conçu comme un rideau lumineux avec plusieurs axes de rayonnement, chaque axe de rayonnement présentant un émetteur (4) et un récepteur associé (7) vers lequel les rayons lumineux (3) de cet émetteur (4) sont guidés lorsque la zone de surveillance est libre.
  13. Système de barrière lumineuse (1) selon la revendication 12, caractérisé en ce qu'une synchronisation optique du rideau lumineux a lieu sur la base de la séquence d'impulsions des différents axes de faisceau.
  14. Procédé de détection d'objets dans une zone surveillée au moyen d'un système de barrage photoélectrique (1), comprenant au moins un émetteur (4) et au moins un récepteur (7) sur des bords opposés de la zone surveillée, les rayons lumineux (3) émis par l'émetteur (4) étant dirigés sur le récepteur (7) lorsque la zone surveillée est libre, et comprenant une unité d'évaluation (8) dans laquelle un signal de détection d'objet est généré en fonction des signaux reçus du récepteur (7), l'émetteur (4) émettant des rayons lumineux (3) sous la forme de séquences d'impulsions avec au moins deux impulsions lumineuses (P1), P2) séparées par une pause d'impulsion, et une séquence d'impulsions étant détectée en ce que la distance entre les fronts descendants des impulsions lumineuses (P1, P2) et/ou la distance entre les fronts montants des impulsions lumineuses (P1, P2) est détectée comme mesure de l'espacement entre les impulsions lumineuses (P1, P2), caractérisé en ce qu'une sélection de l'évaluation de la distance entre les fronts descendants des impulsions lumineuses (P1, P2) et/ou de la distance entre les fronts montants des impulsions lumineuses (P1, P2) est effectuée en fonction des intensités de signal des impulsions lumineuses (P1, P2).
EP18190194.3A 2018-08-22 2018-08-22 Système de barrière lumineuse Active EP3614182B1 (fr)

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EP18190194.3A EP3614182B1 (fr) 2018-08-22 2018-08-22 Système de barrière lumineuse

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EP18190194.3A EP3614182B1 (fr) 2018-08-22 2018-08-22 Système de barrière lumineuse

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EP3614182A1 EP3614182A1 (fr) 2020-02-26
EP3614182B1 true EP3614182B1 (fr) 2021-03-17

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4092449A1 (fr) * 2021-05-20 2022-11-23 Leuze electronic GmbH + Co. KG Agencement de barrière lumineuse et procédé de détection des objets dans une zone de surveillance

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10041182C2 (de) * 2000-08-23 2002-10-10 Leuze Lumiflex Gmbh & Co Optoelektronische Vorrichtung
DE20310903U1 (de) * 2003-07-16 2003-09-25 Leuze electronic GmbH + Co. KG, 73277 Owen Optoelektronische Vorrichtung
DE102007059565B4 (de) 2007-12-11 2010-01-07 Leuze Lumiflex Gmbh + Co. Kg Lichtgitter und Verfahren zu dessen Betrieb
DE102011000931A1 (de) * 2011-02-25 2012-08-30 Sick Ag Verfahren zum Betreiben eines Sicherheitslichtgitters und Sicherheitslichtgitter
DE102015116151B4 (de) * 2015-09-24 2018-03-22 Karl Mayer Textilmaschinenfabrik Gmbh Verfahren zum Betreiben eines photoelektrischen Sensors und photoelektrischer Sensor

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4092449A1 (fr) * 2021-05-20 2022-11-23 Leuze electronic GmbH + Co. KG Agencement de barrière lumineuse et procédé de détection des objets dans une zone de surveillance
EP4092449B1 (fr) 2021-05-20 2023-07-05 Leuze electronic GmbH + Co. KG Agencement de barrière lumineuse et procédé de détection des objets dans une zone de surveillance

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